// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>

// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl

// Modified by Juan A. Corrales (ISIR, UPMC) in order to include coupling

// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.

// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

#ifndef KDL_CHAINJNTTOJACSOLVER_COUPLING_HPP
#define KDL_CHAINJNTTOJACSOLVER_COUPLING_HPP

#include <kdl/frames.hpp>
#include <kdl/jacobian.hpp>
#include <kdl/jntarray.hpp>
#include <kdl_coupling/chain_coupling.hpp>

namespace KDL
{
/*
* @brief  Class to calculate the jacobian of a general
* KDL::Chain, it is used by other solvers. It should not be used
* outside of KDL.
*
*
*/

class ChainJntToJacSolver_coupling
{
public:
  explicit ChainJntToJacSolver_coupling(const Chain_coupling &chain);

  ~ChainJntToJacSolver_coupling();

  /*
   * Calculate the jacobian expressed in the base frame of the
   * chain, with reference point at the end effector of the
   * *chain. The alghoritm is similar to the one used in
   * KDL::ChainFkSolverVel_recursive
   *
   * @param q_in input joint positions
   * @param jac output jacobian
   *
   * @return always returns 0
   */
  int JntToJac(const JntArray &q_in, Jacobian &jac);

private:
  const Chain_coupling chain;
  Twist t_tmp;
  Frame T_tmp;
  Jacobian jac_tmp;
};
}  // namespace KDL

#endif

